Display system for a robotic surgical system - Patents.com

Abstract

A display system for a robotic surgical system can include a display module configured to display a graphical user interface (GUI) on a display to provide information regarding one or more medical instruments. The GUI can include an image display area for displaying an image from a videoscope extending from the overtube, a first instrument simulator configured to present a first simulated representation of the one or more medical instruments extending from the overtube from a first elevation, and a second instrument simulator configured to present a second simulated representation of the one or more medical instruments extending from the overtube from a second elevation different from the first elevation.

Description

Technical Field

[0001] Cross - Reference to Related Applications This application claims the priority and benefit of U.S. Provisional Application No. 63 / 284,125, filed on November 30, 2021, the entire content of which is incorporated herein by reference in its entirety.

[0002] Field The present disclosure relates to robotic surgical systems for minimally invasive surgery, including, for example and without limitation, endoscopic and single - site surgery.

Background Art

[0003] Background Minimally invasive surgeries such as endoscopic and single - site robotic surgeries offer significant advantages compared to traditional robotic surgeries. For example, in endoscopic robotic surgery, no incisions are required to access locations that are difficult to reach within the patient's natural cavities. This dramatically reduces and / or eliminates recovery time and improves the safety of the procedure. Single - site systems reduce incisions to a minimal single site, thereby reducing the number of incisions for access, which would otherwise be greater for certain procedures.

[0004] Certain endoscopic and single - site robotic surgical systems have been proposed. Examples of such systems and related components can be found in U.S. Patent No. 10,881,422, as well as U.S. Patent Application Publication Nos. 20210322046, 20210322045, 20190117247, 20210275266, 20210267702, 20200107898, 20200397457, 202000397456, 20200315645, and 201962914226, all of which are incorporated herein by reference in their entirety.

[0005] Conventional surgical robots and systems have generally been considered satisfactory for their intended purposes. However, there is still a need in the art for improved robotic surgical systems, apparatus, methods, control devices, and components, particularly those configured for intracavitary and single-site surgery. This disclosure provides improvements in such areas, for example. [Overview of the Initiative]

[0006] overview According to at least one aspect of this disclosure, a display system for a robotic surgical system is one or more Medical devices The display module may include a display module configured to show a graphical user interface (GUI) on the display to provide information. The GUI may include an image display area for displaying images from a videoscope extending from an overtube, and one or more videoscopes extending from the overtube from a first elevation view. Medical devices A first equipment simulator configured to present a first simulated representation of and one or more overtubes extending from a second elevation view different from the first elevation view Medical devices This may include a second instrument simulator configured to present a second simulated representation of the instrument.

[0007] The GUI may include equipment control indicators, including at least one of the following: an equipment name indicator, a connection status indicator to show the equipment's connection to the hub, an installation status indicator to show the equipment's attachment to the robotic equipment controller, an equipment life indicator, and / or one or more equipment-specific operation indicators. The GUI may include one or more of the system's Medical devices The GUI may include a videoscope and / or a system clutch indicator to show whether the system clutch is active for the disengagement operation of the overtube. The GUI may include one or more related to the finger clutch. Medical devicesThe GUI may include a finger clutch indicator to show whether the finger clutch has been pressed for the disengagement action. The GUI may also include a notification indicator to display notifications to the user, which may be located in the center and at the bottom of the display.

[0008] The GUI may include an overtube translation indicator configured to show the amount of translation of an overtube and / or whether the translation is within the limits of the translation of one or more overtubes. The GUI may include an overtube roll indicator configured to show the amount of roll of an overtube and / or whether the roll of an overtube is within the limits of the roll of one or more overtubes. The GUI may include an overtube deflection indicator configured to show the amount of deflection of an overtube in a horizontal and / or vertical plane, and / or whether the deflection of an overtube is within the limits of the deflection of one or more overtubes. The GUI may include a videoscope deflection indicator configured to show the amount of deflection of a videoscope in a horizontal and / or vertical plane, and / or whether the deflection of a videoscope is within the limits of the deflection of one or more videoscopes. The GUI may include a videoscope shape indicator for a videoscope, which may be configured to show the amount of deflection of the distal segment and the amount of deflection of the proximal segment of the videoscope.

[0009] The GUI is configured to show the amount of rolls on the equipment and / or whether the rolls on the equipment are within one or more limits. Medical devices It can include an instrument roll indicator for each instrument. The GUI is configured to show the amount of instrument translation and / or whether the instrument translation is within the limits of the translation of one or more instruments. Medical devices It can include a translational indicator for the instrument.

[0010] According to at least one aspect of this disclosure, a robotic surgical system may include a user console comprising a display and one or more input devices. The robotic surgical system may include any suitable embodiment of a display system disclosed herein, such as those described above.

[0011] According to at least one aspect of the present disclosure, the method may include calculating the position and / or orientation of a robotically controlled elongated surgical device, and generating one or more manifested images of the elongated surgical device showing its position and / or orientation relative to a neutral position. Calculating the position and / or orientation may include estimating the position and / or orientation of the elongated surgical device using instrument controller information. In certain embodiments, generating one or more manifested images may include generating a plurality of two-dimensional indicators configured to show one or more of pitch, yaw, and roll.

[0012] In certain embodiments, the method may further include generating a color indicator that changes color based on the position of one or more expressed images relative to one or more limits away from a neutral position. The color indicator can be associated with the expressed images of an elongated device. The color indicator can be positioned adjacent to or around the expressed images.

[0013] These and other features of the embodiments of this disclosure will become more readily apparent to those skilled in the art from the following detailed description in conjunction with the drawings. [Brief explanation of the drawing]

[0014] Embodiments thereof are described in detail below this specification with reference to specific figures, so that those skilled in the art who relate to this disclosure can easily understand how to construct and use the apparatus and methods of this disclosure without excessive experimentation. [Figure 1]Perspective view of an embodiment of a system according to the present disclosure. [Figure 2A] An embodiment of a graphical user interface according to the present disclosure is shown. [Figure 2B] An embodiment of a graphical user interface according to the present disclosure is shown. [Figure 3] FIG. 3A shows an embodiment of a first device simulator according to the present disclosure, and FIG. 3B shows an embodiment of a second device simulator according to the present disclosure. [Figure 4] An embodiment of a device control indicator according to the present disclosure is shown. [Figure 5A] Embodiments of one or more device control indicators in various states according to the present disclosure are shown. [Figure 5B] Embodiments of one or more device control indicators in various states according to the present disclosure are shown. [Figure 5C] Embodiments of one or more device control indicators in various states according to the present disclosure are shown. [Figure 5D] Embodiments of one or more device control indicators in various states according to the present disclosure are shown. [Figure 6] An embodiment of a finger clutch indicator according to the present disclosure is shown. [Figure 7] An embodiment of a clutch indicator of a system according to the present disclosure is shown. [Figure 8] Embodiments of notification indicators according to the present disclosure showing various states are shown. [Figure 9A] An embodiment of an overtube translation indicator according to the present disclosure is shown. [Figure 9B] An embodiment of FIG. 9A in relation to embodiments of user input and system output according to the present disclosure is shown. [Figure 10A] An embodiment of an overtube roll indicator according to the present disclosure is shown. [Figure 10B] An embodiment of FIG. 10A in relation to embodiments of clockwise user input and system output according to the present disclosure is shown. [Figure 10C] Embodiment of FIG. 10A is shown in connection with embodiments of counterclockwise user input and system output according to the present disclosure. [Figure 11A] Embodiments of an overtube bend indicator according to the present disclosure showing various states are shown. [Figure 11B] Embodiment of FIG. 11A is shown in connection with embodiments of user input and system output according to the present disclosure. [Figure 11C] Embodiment of FIG. 11A is shown in connection with embodiments of user input and system output according to the present disclosure. [Figure 12A] Embodiments of a videoscope bend indicator according to the present disclosure showing various states are shown. [Figure 12B] Embodiment of FIG. 12A is shown in connection with embodiments of user input and system output according to the present disclosure. [Figure 12C] Embodiment of FIG. 12A is shown in connection with embodiments of user input and system output according to the present disclosure. [Figure 13] Embodiments of an instrument roll indicator according to the present disclosure showing various states are shown. [Figure 14] Embodiments of a videoscope shape indicator according to the present disclosure showing various states are shown.

Best Mode for Carrying Out the Invention

[0015] Detailed Description Referring now to the drawings, like reference numerals identify like structural features or aspects of the present disclosure. For purposes of explanation and illustration, and not limitation, an illustrative diagram of an embodiment of a graphical user interface (GUI) according to the present disclosure is shown in FIG. 1 and is generally designated by reference numeral 100. Other embodiments and / or aspects of the present disclosure are shown in FIGS. 2A through 14.

[0016] According to at least one aspect of this disclosure, referring to Figures 1 to 14, the display system 100 for a robotic surgical system (e.g., an intracavitary robotic system) comprises one or more Medical devices The system may include a display module 101 configured to display a graphical user interface (GUI) 200 on a display 103 to provide information about 105 (e.g., a robot-controlled endoscopic tool). Figure 1 is a perspective view of an embodiment of the system according to this disclosure. The display module 101 is operably connected to any suitable feedback system, control module, input, and / or output of the robotic surgical system to receive any data relating to the GUI 200 and / or indicators disclosed herein (e.g., described below). Any modules disclosed herein may be or include any suitable hardware and / or software modules configured to perform any suitable function (e.g., as disclosed herein).

[0017] Figures 2A and 2B illustrate embodiments of the graphical user interface according to the present disclosure. The GUI 200 may include an image display area 201 for displaying images from a videoscope 1200 extending from an overtube 1100 (for example, depicted as a surgical scene in Figure 2A or a video stream in Figure 2B), which may include a flexible, elongated insertion tube having one or more instrument channels for a medical device to move forward / backward inside (for example, as shown in Figures 11B and 11C).

[0018] Referring to Figures 2A to 3B, the GUI200 also extends from the overtube 1100 from the first elevation view (for example, the left field of view equipment simulator as shown in Figure 3A) and one or more Medical devicesThe system may include a first device simulator 31 configured to present a first simulated representation of 105, and a second device simulator 32 configured to present a second simulated representation of one or more medical devices 105 extending from the overtube 1100 from a second elevation view different from the first elevation view (e.g., an orthogonal field of view such as the right field of view device simulator in Figure 3B). Any suitable relative field of view is intended herein.

[0019] Referring further to Figures 4 to 5D, the GUI200 may include an equipment control indicator 1 which includes, for example, an equipment name indicator, a connection status indicator for indicating the equipment's connection to a hub, an installation status indicator for indicating the equipment's attachment to a robotic equipment controller, an equipment life indicator, and / or at least one of one or more equipment-specific operating indicators (e.g., primary and secondary energy operating, as illustrated). Any suitable equipment control indicator is contemplated herein. In certain embodiments, the equipment life may be fixed (e.g., an objectively determined number of fixed uses of the device). In certain embodiments, the equipment life may be variable, for example, depending on one or more physical factors (e.g., actual / objectively determined wear) and / or the manufacturer's requirements.

[0020] Referring further to Figure 6, GUI200 is one or more related to finger clutches Medical devices A finger clutch indicator 2 may be included to show whether the finger clutch has been pressed for the disengagement operation of 105. Referring further to Figure 7, the GUI200 may include one or more of the system Medical devices The system clutch indicator 4 may include a system clutch indicator 4 to show whether the system clutch is active for the disengagement operation of the overtube 1100 and / or videoscope 1200.

[0021] Referring to Figure 8, the GUI200 may include notification indicators 5 for displaying notifications to the user, and the notification indicators are located in the center and at the bottom of the display. The notification indicators 5 may have partial opacity and / or may change color depending on the message content, as shown, for example.

[0022] Referring further to Figures 9A and 9B, the GUI200 may include an overtube translation indicator 6 configured to indicate the amount of translation of the overtube 1100 (shown mounted on the mobile patient cart / console 902) (e.g., an axial limit) and / or whether the translation is within the translation limits of one or more overtubes (e.g., limits shown as depicted). Any appropriate color-coded change in the indicator in response to proximity to the limits is contemplated herein.

[0023] Referring further to Figures 10A to 10C, the GUI 200 may include an overtube roll indicator 7 for the overtube 1100, configured to show the amount of roll of the overtube 1100 and / or whether the roll of the overtube 1100 is within the limits of one or more overtube rolls (for example, color-coded according to the percentage of minimum and maximum rolls). In certain embodiments, the image display area 201 may include an auxiliary roll indicator 7A at the edge of the image, for example, as shown.

[0024] Referring further to Figures 11A to 11C, GUI200 may include an overtube deflection indicator 8 for overtube 1100, configured to show the amount of deflection of overtube 1100 in horizontal and / or vertical planes (e.g., both as shown), and / or whether the deflection of overtube 1100 is within the deflection limits of one or more overtubes (e.g., color-coded according to the percentages of minimum and maximum deflection). Referring further to Figures 12A to 12C, GUI200 may include a videoscope deflection indicator 9 for videoscope 1200, configured to show the amount of deflection of videoscope 1200 in horizontal and / or vertical planes (e.g., both as shown), and / or whether the deflection of videoscope 1200 is within the deflection limits of one or more videoscopes (e.g., color-coded according to the percentages of minimum and maximum deflection).

[0025] Referring further to Figure 13, the GUI200 is configured to indicate the amount of equipment rolls and / or whether the equipment rolls are within one or more limits (for example, color-coded according to the percentage of minimum and maximum rolls). Medical devices It may include 105 equipment roll indicators 10. The equipment roll indicators 10 are mounted Medical devices 105 images (simulated or actual) can be outlined by lines. For example, the lines can gradually fill more rolls that exist and change color according to the filling rate (e.g., blue, yellow, orange, red). GUI200 is configured to show the amount that the instrument has translated and / or whether the translation of one or more instruments is within the translation limits of one or more instruments (e.g., color-coded according to the minimum and maximum translation percentages). Medical devices The instrument may include a translational indicator 11.

[0026] Referring further to Figure 14, the GUI 200 may also include a videoscope shape indicator 13 for the videoscope 1200, which can be configured to show the amount of deflection of the distal segment 1200b and the amount of deflection of the proximal segment 1200a of the videoscope 1200. In certain embodiments, the videoscope indicator 13 can be integrated with, for example, a first instrument simulator 31 and / or a second instrument simulator 32 (as shown). In certain embodiments, the videoscope indicator 13 can be separated from, for example, the first instrument simulator 31 and / or the second instrument simulator 32. In certain embodiments, the videoscope shape indicator 13 can be configured not only to present a simulated representation of the videoscope in a deflected state (e.g., a cobra shape as shown), but also to present simulated lines showing the amount of deflection of the distal segment and the proximal segment of the videoscope 1200.

[0027] According to at least one aspect of this disclosure, a robotic surgical system (e.g., an intracavitary robotic surgical system) may include a user console 99 equipped with a display and one or more input devices 97a, 97b (e.g., a left-hand control device and / or a right-hand control device). The robotic surgical system may include any suitable embodiment of the display systems disclosed herein, for example, system 100 described above.

[0028] According to at least one aspect of the present disclosure, the method may include calculating the position and / or orientation of a robotically controlled elongated surgical device, and generating one or more manifested images of the elongated surgical device showing its position and / or orientation relative to a neutral position. Calculating the position and / or orientation may include estimating the position and / or orientation of the elongated surgical device using instrument controller information. In certain embodiments, generating one or more manifested images may include generating a plurality of two-dimensional indicators configured to show one or more of pitch, yaw, and roll.

[0029] In certain embodiments, the method may further include generating a color indicator that changes color based on the position of one or more expressed images relative to one or more limits away from a neutral position. The color indicator can be associated with the expressed images of an elongated device. The color indicator can be positioned adjacent to or around the expressed images.

[0030] Embodiments of GUI200 may include the relative positions of the illustrated indicators having advantageous ergonomic positions. Embodiments of GUI200 may include the shapes of each illustrated indicator, which may have functional advantages. Any suitable combination of indicators, as well as other arrangements and / or shapes, are contemplated herein.

[0031] Specific embodiments of GUIs and / or indicators are disclosed above. Any other suitable GUIs and / or indicators thereof are contemplated herein.

[0032] As will be understood by those skilled in the art, aspects of this disclosure may be embodied as systems, methods, or computer program products. Accordingly, aspects of this disclosure may take the form of entirely hardware embodiments, entirely software embodiments (including firmware, resident software, microcode, etc.), or embodiments combining software and hardware embodiments, all of which may be referred to herein as “circuits,” “modules,” or “systems.” A “circuit,” “module,” or “system” may include one or more parts of one or more separate physical hardware and / or software components that can together perform the disclosed functions of a “circuit,” “module,” or “system,” or a “circuit,” “module,” or “system” may be a single self-contained unit (e.g., hardware and / or software). Furthermore, aspects of this disclosure may take the form of computer program products embodied in one or more computer-readable media in which computer-readable program code is embodied.

[0033] Any combination of one or more computer-readable media may be used. The computer-readable media may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination thereof. More specific examples (non-exclusive list) of computer-readable storage media include: electrical connections with one or more wires, portable computer diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In the context of this specification, the computer-readable storage medium may be any tangible medium that contains or can store programs for use by, or in connection with, an instruction execution system, apparatus, or device.

[0034] A computer-readable signal medium may include, for example, a propagating data signal in which computer-readable program code is internally embodied, either in the baseband or as part of a carrier wave. Such a carrier signal may take any of a variety of forms, including but not limited to electromagnetic, optical, or any suitable combination thereof. A computer-readable signal medium may be any computer-readable medium, rather than a computer-readable storage medium, that can communicate, propagate, or transport programs for use by or in connection with an instruction execution system, apparatus, or device.

[0035] Program code embodied in a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, fiber optic cable, RF, or any suitable combination thereof.

[0036] Computer program code for performing operations for the aspects of this disclosure can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and traditional procedural programming languages ​​such as the C programming language or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer, partially on a remote computer, or entirely on a remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or it may be connected to an external computer (for example, via the Internet using an Internet service provider).

[0037] Aspects of this disclosure may be described above with reference to flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It will be understood that any block in any flowchart and / or block diagram, and any combination of blocks in any flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions may be provided in the processor of a general-purpose computer, a dedicated computer, or other programmable data processing device to manufacture a machine such that instructions executed via the processor of a computer or other programmable data processing device create means for performing functions / operations specified in one or more blocks of any flowchart and / or block diagram.

[0038] These computer program instructions may also be stored in computer-readable media that can instruct a computer, other programmable data processing device, or other device to function in a particular way, and instructions stored in computer-readable media may be used to manufacture products that include instructions that perform functions / operations specified in one or more blocks of a flowchart and / or block diagram.

[0039] Computer program instructions can also be loaded into a computer, another programmable data processing device, or another device to perform a series of operational steps in order to realize a computer implementation process, such that instructions executed by the computer or other programmable device perform a process for carrying out the functions / operations described herein.

[0040] Those skilled in the art will understand that any numerical values ​​disclosed herein may be exact values ​​or values ​​within a range. Furthermore, any approximation terms used herein (e.g., “about,” “approximately,” “around”) may mean a stated value within a range. For example, in certain embodiments, the range may be within 20% (plus or minus), or within 10%, or within 5%, or within 2%, or within any other appropriate percentage or number as understood by those skilled in the art (e.g., with respect to a known acceptable limit or range of error).

[0041] As used herein and in the appended claims, the articles “a,” “an,” and “the” are used herein to refer to one or more (i.e., at least one) grammatical objects of the article, unless the context clearly indicates otherwise. For example, “an element” means one or more elements.

[0042] When used in this specification and in the claims, the phrase "and / or" should be understood to mean "either or both" of the elements thus combined, i.e., elements that exist conjunctly in some cases and disjunctly in others. Multiple elements enumerated by "and / or" should be similarly interpreted as "one or more" of the elements thus combined. In addition to the elements specifically identified by the "and / or" clause, other elements may optionally exist, whether related to or unrelated to the specifically identified elements. Thus, as a non-restrictive example, when used in combination with open-ended wording such as "comprising," a reference "A and / or B" may refer to A only in one embodiment (optionally including elements other than B), B only in another embodiment (optionally including elements other than A), and both A and B in yet another embodiment (optionally including other elements), and so on.

[0043] Where used herein and in the claims, “or” should be understood to have the same meaning as “and / or” as defined above. For example, when dividing items in a list, “or” or “and / or” should be interpreted as inclusive, that is, including at least one of multiple elements or lists of elements, but including more than one, and optionally including additional unlisted items. Only terms that clearly indicate that there are no identical ones, such as “only one of” or “exactly one of” or “consisting of” as used in the claims, refer to including exactly one element of multiple elements or lists of elements. In general, where used herein, the term “or” should be interpreted as indicating an exclusive choice (i.e., “one or the other, but not both”) when preceded by an exclusive term such as “either,” “one of,” “only one of,” or “exactly one of.”

[0044] Any suitable combination and / or any suitable part thereof of any disclosed embodiment is intended herein to be understood by those skilled in the art in light of this disclosure.

[0045] The embodiments of this disclosure, as described above and shown in the drawings, represent improvements to the relevant technology. While this disclosure includes references to specific embodiments, those skilled in the art will readily understand that modifications and / or alterations can be made without departing from the spirit and scope of this disclosure.

Claims

1. A display system for a robotic surgical system, A display module configured to display a graphical user interface (GUI) on a display in order to provide information about one or more medical devices, The GUI is, An image display area for displaying images from a videoscope extending from the overtube, A first instrument simulator configured to provide a first simulated representation of one or more medical instruments extending from the overtube, viewed from a first side view direction, A second instrument simulator configured to provide a second simulated representation of one or more medical instruments extending from the overtube, viewed from a second side view direction different from the first side view direction, Includes, The GUI includes an overtube bending indicator for the overtube, The overtube bending indicator indicates the amount of bending of the overtube in the horizontal and / or vertical planes, and / or whether the bending of the overtube is within one or more overtube bending limits. Display system.

2. The GUI includes an appliance control indicator which includes at least one of an appliance name indicator, an appliance life indicator, and / or one or more appliance-specific operation indicators. The system according to claim 1.

3. The GUI includes a system clutch indicator that indicates whether a system clutch is activated to release the operation of the one or more medical instruments, the videoscope, and / or the overtube of the system. The system according to claim 1.

4. The GUI includes a finger clutch indicator that indicates whether the finger clutch is pressed in order to release the operation of the one or more medical devices associated with the finger clutch, The system according to claim 1.

5. The GUI includes a notification indicator for displaying a notification to the user, the notification indicator being located at the bottom center of the display, The system according to claim 1.

6. The GUI includes an overtube translation indicator that indicates the amount of overtube translation and / or whether the translation is within one or more overtube translation limits. The system according to claim 1.

7. The GUI includes an overtube roll indicator for the overtube, The overtube roll indicator indicates the amount of roll of the overtube and / or whether the roll of the overtube is within one or more overtube roll limits. The system according to claim 1.

8. The GUI includes a videoscope bending indicator for the videoscope, The videoscope bending indicator indicates the amount of bending of the videoscope in the horizontal and / or vertical planes, and / or whether the bending of the videoscope is within one or more videoscope bending limits. The system according to claim 1.

9. The GUI includes a videoscope shape indicator for the videoscope, The videoscope shape indicator shows the amount of curvature of the distal segment of the videoscope and the amount of curvature of the proximal segment of the videoscope. The system according to claim 1.

10. The GUI includes an instrument roll indicator for each medical instrument, The instrument roll indicator indicates the amount of instrument rolls and / or whether the instrument rolls are within the limits of one or more instrument rolls. The system according to claim 1.

11. The GUI includes an instrument translation indicator for each medical instrument, The instrument translation indicator indicates the amount of instrument translation and / or whether the instrument translation is within one or more instrument translation limits. The system according to claim 1.

12. A robotic surgical system, A user console equipped with a display and one or more input devices, A display system for the robotic surgical system, Equipped with, The aforementioned display system is The system includes a display module configured to display a graphical user interface (GUI) on the display in order to provide information about one or more medical devices, The GUI is, An image display area for displaying images from a videoscope extending from the overtube, A first instrument simulator configured to provide a first simulated representation of one or more medical instruments extending from the overtube, viewed from a first side view direction, A second instrument simulator configured to provide a second simulated representation of one or more medical instruments extending from the overtube, viewed from a second side view direction different from the first side view direction, Includes, The GUI includes an overtube bending indicator for the overtube, The overtube bending indicator indicates the amount of bending of the overtube in the horizontal and / or vertical planes, and / or whether the bending of the overtube is within one or more overtube bending limits. Robotic surgical system.

13. The GUI includes an instrument control indicator which includes at least one of the following: an instrument name indicator, a connection status indicator which indicates whether the instrument is connected to the hub of the robotic surgical system, an attachment status indicator which indicates the attachment of the instrument to the robotic instrument controller, an instrument life indicator, and / or one or more instrument-specific operation indicators. The system according to claim 12.

14. The GUI includes a system clutch indicator that shows whether the system clutch is activated to release the operation of all medical devices of the system. The system according to claim 12.

15. The GUI includes a finger clutch indicator that indicates whether the finger clutch is pressed in order to release the operation of the one or more medical devices associated with the finger clutch, The system according to claim 12.

16. The GUI includes a notification indicator for displaying a notification to the user, the notification indicator being located at the bottom center of the display, The system according to claim 12.

17. The GUI includes an overtube translation indicator that indicates the amount of overtube translation and / or whether the translation is within one or more overtube translation limits. The system according to claim 12.

18. The GUI includes an overtube roll indicator for the overtube, The overtube roll indicator indicates the amount of roll of the overtube and / or whether the roll of the overtube is within one or more overtube roll limits. The system according to claim 12.

Images